EP1919817B1 - Starrer teleskopmechanismus - Google Patents
Starrer teleskopmechanismus Download PDFInfo
- Publication number
- EP1919817B1 EP1919817B1 EP06765390A EP06765390A EP1919817B1 EP 1919817 B1 EP1919817 B1 EP 1919817B1 EP 06765390 A EP06765390 A EP 06765390A EP 06765390 A EP06765390 A EP 06765390A EP 1919817 B1 EP1919817 B1 EP 1919817B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- members
- freedom
- joints
- length
- rigid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Not-in-force
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 38
- 150000001875 compounds Chemical group 0.000 claims 2
- 238000005452 bending Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 3
- 230000001965 increasing effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000011068 loading method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/22—Lazy-tongs mechanisms
Definitions
- the invention is referred to an expandable mechanism of the telescopic type, which displays high endurance to mechanical loads.
- Expandable telescopic mechanisms of variable span are utilized for approaching by mechanical means remote points in space, aiming at the transport or carrying of objects or loads (e.g. elevating devices, variable-length bridges or stadium-roofs, cranes etc.) or tools, from a base to a remote point whose position may be stationary or variable.
- telescopic mechanisms are employed for exerting forces and torques at various carriers located at various distances away from their grounded end.
- Combinations of expandable mechanisms may also constitute variable length links of robotic arms for robotic applications (e.g. trajectory control of the end-effector or exertion of forces/torques to various mediums or measurement of spatial coordinates by optical or haptic sensors properly adapted etc.).
- expandable telescopic mechanisms are implemented in outer space applications where mechanisms spanning long distances and having a low total mass are needed (so that not much energy is required during their operation and in order not to impede the launching while the gravitational field is still intense).
- Expandable telescopic mechanisms consist of a repeated implementation of a basic "cell" which is capable of contraction and extension.
- the connection of such cells to each other enhances the capability for a further increase of the reach of the total mechanism.
- the core of a basic cell may be taken to be of the diagonal-cross type (i.e. in the lazy-tongs/scissors-like manner).
- two equal rods are connected in their middle through a rotational joint (forming a pivot) thus resulting in the shape of the letter x.
- a second identically-shaped cell is connected to the endpoints of the first, by articulate joints also, thus forming a double group xx.
- many other cells may be appended longitudinally, contributing to a multiple group of x's i.e. xxxx.
- the core of the basic cell consists of seven rigid members connected to each other with revolute joints. Six of these members are connected to each other in a formation of a simply closed planar polygon whereby the vertices constitute revolute joints. The first of the six members is considered grounded and as a result its two revolute joints are fixed with respect to the reference frame. All the remaining joints are not fixed. The numbering of the members is considered according to their succession sequence with respect to their linking, starting with the first (grounded) member. A seventh member is connected to the mobile joint of the second member and to the mobile joint of the sixth member, namely the mobile joints of the two members adjacent to the grounded member are no longer independent but they constitute joints of the seventh member.
- each member is selected so that when the fourth member moves parallel to the grounded one, its joints move straight. In particular, every point of the fourth member moves perpendicularly to the grounded member. Consequently, for development of the mechanism in a straight line manager, a condition of self-parallelism of the fourth member during its motion is imposed.
- the core and its complement therefore form the basic cell.
- other cells of similar configuration may be linked to each other to compose the telescopic expandable mechanism.
- the connection is implemented in a manner such that the resulting system is not over-determined with respect to the degrees of freedom, namely there must always be one only degree of freedom (which allows for the longitudinal variation of the mechanism).
- the connection of two successive cells is accomplished in a way that the extension of the second cell is determined through the parallelism condition, not conversely; because, if the extension of the next cell is accomplished in an alternative way which does not enforce the satisfaction of the parallelism condition, but rather parallelism emanates independently, then the extra members involved in realizing the parallelism condition would not participate in the resistance to transverse (perpendicular) loads. That however, would cancel the advantage of the invention whereby all the members are involved in the bearing of the external transverse forces and moments.
- Figure 1 the various members are indexed with natural numbers while the joints are referenced by capital letters.
- the fixed joints are denoted by two concentric circles while the mobile ones by a single circle.
- the referencing of various members may be accomplished by the corresponding joint pairs (e.g. member 3 may be denoted by CD).
- the first member is considered as the reference frame and the motion of the mechanism is considered in reference to it.
- the first and the sixth member are equal lengthwise.
- the second, third, and seventh member are also equal in length to each other but twice as long as the first member.
- Members 4 and 5 are equal to each other lengthwise, twice as long as the second member. Namely there are three lengths in total, whereby the relation of the lengths is 1:2:4.
- FCD 2(CDE+FEC) (8).
- CDE CDE+FEC
- FCD ABC+FEC
- Figure 3 a symmetrical version of the basic cell is depicted.
- the parallelism condition is ensured by parallelograms BCGH and CDEK.
- Figure 4 a way of connecting two basic cells is indicated.
- the transmission of motion from the first to the second cell is accomplished by means of members 2 and 14.
- Members 2, 4 and 14 have been intentionally widened at the middle to prevent confusion in understanding the issues that are analyzed subsequently.
- Joint N is not a joint of member 4.
- Members 2 and 14 with the aid of parallelogram NCDM determine the motion of joint M rendering it a mirror image of joint C with respect to member 4.
- Members 15, 16 and 17 ensure the straight line motion of joint L. If members 14 and 12 were united, thus forming a single member, then the motion of L would be completely determined and members 15, 16 and 17 should be omitted due to kinematic over-determination. Then the mechanism would be of the diagonal-cross type with all the shortcomings that have already been mentioned. With the connection mode of Figure 4 all members participate in bearing the transverse forces and moments.
- Figures 5 and 6 illustrate alternative possibilities of connecting neighboring cells. To facilitate the comprehension some members have been widened at the middle.
- joint T is common to members 4, 9, and 19.
- the transmission of motion from the first cell to the second is accomplished through member 8 (whose length is twice as long as that of member 2 which belongs to the basic cell of Figure 1 ) which is co-pivoted with member 14 at joint P.
- the transmission of motion to the second cell is accomplished through member 13 (having double the length of member 2) which is co-pivoted with member 14 at joint P.
- the connection of additional cells may be implemented by numerous other variations of the basic cell of Figure 1 which are based on horizontal or vertical catoptrical versions of the configuration of Figure 1 combined with parallelograms of the type displayed in Figure 3 .
- Figure 7 demonstrates a version of connecting adjacent cells of different size.
- the configuration of this combination is similar to that of Figure 6 .
- members 12, 13, 15, 16, 17, 18, 19 of the second cell are smaller than their counterparts of the first cell (i.e. 2, 3, 5, 6, 7, 8, 9) with length a sub-multiple of them (having the same coefficient of proportionality).
- Member 13 has been elongated as much as required for it to be co-pivoted with member 12 at joint M.
- This version as well as its variants according to the hints that accompany the comments of Figures 5 and 6 , may contribute to the generation of various multicellular telescopic expandable mechanisms.
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
- Vehicle Body Suspensions (AREA)
- Forklifts And Lifting Vehicles (AREA)
Claims (2)
- Starrer Teleskopmechanismus, der auf einer aus starren Teilen und Drehgelenken bestehenden Vorrichtung beruht und welcher von einem Kern und einem Anhängsel charakterisiert wird, die beide zusammen ein Grundelement mit einem Freiheitsgrad bilden, wobei der Kern aus sieben festen Gliedern besteht, die miteinander mit Drehgelenken so verbunden sind (A, B, C, D, E, F), dass sechs von diesen Gliedern, nämlich das erste, zweite, dritte, vierte, fünfte und sechste Glied (1, 2, 3, 4, 5, 6) miteinander verbunden sind in der Anordnung eines einfachen, ebenen, geschlossenen Polygons, bei dem das erste (1) von den sechs Gliedern verankert ist und das siebte (7) Glied mit dem beweglichen Gelenk, das das dritte (3) Glied mit dem zweiten (2) verbindet und mit dem beweglichen Gelenk, das das fünfte (5) Glied mit dem sechsten (6) so verbunden ist, dass die ganze Zusammensetzung über zwei Freiheitsgrade verfügt und mit solchen ausgewählten Gliederlängen, dass die Bedingung verfüllt wird, wenn sich das vierte (4) Glied parallel zu dem verankerten Glied bewegt, seine Gelenke sich geradlinig bewegen, was sichergestellt wird wenn die Beziehung κµ=λ2 gilt, wobei µ die Länge des ersten (1) und des sechsten (6) Glieds ist, λ die Länge des zweiten (2), des dritten (3) und des siebten (7) Glieds und κ die Länge des vierten (4) und des fünften (5) Glieds, während das Anhängsel, das einen Freiheitsgrad wegnimmt, wenn es mit dem Kern verbunden wird und gleichzeitig die oben erwähnte Bedingung erfüllt, aus drei zusätzlichen Gliedern, fünfzehn, sechzehn und siebzehn (15, 16, 17) und aus einer Verlängerung (AH) des ersten (1) Glieds besteht, welche die symmetrischen Gegenstücke des fünften, sechsten und siebten Glieds (5, 6, 7) und des vierten (4) Glieds sind, in Bezug auf eine Symmetrieachse die mit der Mittelparallele zwischen dem ersten (1) und dem vierten Glied (4) zusammenfällt, so vervollständigt es auf diese Weise das Grundelement (Fig. 2), das letzten Endes über einen Freiheitsgrad insgesamt verfügt.
- Starrer Teleskopmechanismus, der auf einer aus starren Teilen und Drehgelenken bestehenden Vorrichtung beruht und welcher von einem Kern und einem Anhängsel charakterisiert wird, die beide zusammen ein Grundelement mit einem Freiheitsgrad bilden, wobei der Kern aus sieben festen Gliedern besteht, die miteinander mit Drehgelenken so verbunden sind (A, B, C, D, E, F), dass sechs von diesen Gliedern, nämlich das erste, zweite, dritte, vierte, fünfte und sechste Glied (1, 2, 3, 4, 5, 6) miteinander verbunden sind in der Anordnung eines einfachen, ebenen, geschlossenen Polygons, bei dem das erste (1) von den sechs Gliedern verankert ist und das siebte (7) Glied mit dem beweglichen Gelenk, das das dritte (3) Glied mit dem zweiten (2) verbindet und mit dem beweglichen Gelenk, das das fünfte (5) Glied mit dem sechsten (6) so verbunden ist, dass die ganze Zusammensetzung über zwei Freiheitsgrade verfügt und mit solchen ausgewählten Gliederlängen, dass die Bedingung erfüllt wird, wenn sich das vierte (4) Glied parallel zu dem verankerten Glied bewegt, seine Gelenke sich geradlinig bewegen, was sichergestellt wird wenn die Beziehung κµ=λ2 gilt, wobei µ die Länge des ersten (1) und des sechsten (6) Glieds ist, λ die Länge des zweiten (2), des dritten (3) und des siebten (7) Glieds und κ die Länge des vierten (4) und des fünften (5) Glieds, während das Anhängsel, das einen Freiheitsgrad wegnimmt, wenn es mit dem Kern verbunden wird und gleichzeitig die oben erwähnte Bedingung erfüllt, aus drei zusätzlichen Gliedern, acht, neun und zehn (8, 9, 10) und aus einer Verlängerung (AH) des ersten (1) Glieds besteht und so angelegt ist, dass das zweite (2) und das achte (8) Glied gleichlang und parallel zueinander sind, sowie das dritte Glied (3) und das neunte (9) Glied gleichlang und parallel zueinander sind und das zehnte Glied (10) gleichlang und parallel zu dem vierten (4) Glied und zu dem verlängerten ersten (1) Glied, bildend somit auf diese Weise ein Grundelement mit einem Freiheitsgrad.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GR20050100340A GR1005221B (el) | 2005-07-01 | 2005-07-01 | Δυσπαραμορφωτος τηλεσκοπικος μηχανισμος |
PCT/GR2006/000031 WO2007003971A1 (en) | 2005-07-01 | 2006-06-27 | Rigid telescopic mechanism |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1919817A1 EP1919817A1 (de) | 2008-05-14 |
EP1919817B1 true EP1919817B1 (de) | 2010-10-13 |
Family
ID=37604119
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP06765390A Not-in-force EP1919817B1 (de) | 2005-07-01 | 2006-06-27 | Starrer teleskopmechanismus |
Country Status (6)
Country | Link |
---|---|
US (1) | US20090078920A1 (de) |
EP (1) | EP1919817B1 (de) |
AT (1) | ATE484480T1 (de) |
DE (1) | DE602006017562D1 (de) |
GR (1) | GR1005221B (de) |
WO (1) | WO2007003971A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9322506B2 (en) * | 2010-03-02 | 2016-04-26 | Flexsys, Inc. | Compliant motion distribution system |
CN104455268B (zh) * | 2013-09-16 | 2017-10-27 | 上海宇航***工程研究所 | 一种具有高刚度和大比值行程放大能力的机构 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AU6239280A (en) * | 1979-09-12 | 1981-03-19 | Hoven Manufacturing Pty. Ltd. | Canopy lifting mechanism |
FR2577584B1 (fr) * | 1985-02-20 | 1987-04-10 | Sarazin Maurice | Structure rigide reglable en longueur, notamment pour plate-forme petroliere. |
EP0284688A1 (de) * | 1986-11-07 | 1988-10-05 | British Aerospace Public Limited Company | Entfaltbare räumliche Struktur |
GB8803879D0 (en) * | 1988-02-19 | 1988-03-23 | Vinten Ltd | Improvements in/relating to height adjustable platforms |
EP0760350A1 (de) * | 1995-09-01 | 1997-03-05 | Anthony Phillip Dunks | Hebevorrichtung |
-
2005
- 2005-07-01 GR GR20050100340A patent/GR1005221B/el active IP Right Grant
-
2006
- 2006-06-27 US US11/922,303 patent/US20090078920A1/en not_active Abandoned
- 2006-06-27 WO PCT/GR2006/000031 patent/WO2007003971A1/en active Application Filing
- 2006-06-27 AT AT06765390T patent/ATE484480T1/de not_active IP Right Cessation
- 2006-06-27 EP EP06765390A patent/EP1919817B1/de not_active Not-in-force
- 2006-06-27 DE DE602006017562T patent/DE602006017562D1/de active Active
Also Published As
Publication number | Publication date |
---|---|
US20090078920A1 (en) | 2009-03-26 |
ATE484480T1 (de) | 2010-10-15 |
GR1005221B (el) | 2006-05-18 |
WO2007003971A1 (en) | 2007-01-11 |
DE602006017562D1 (de) | 2010-11-25 |
EP1919817A1 (de) | 2008-05-14 |
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